public bool HandleHeader(Header header)
{
if (!header.Values.ContainsKey("topic"))
{
string msg = $"[{ThisNode.Name}] Header from subscriber did not have the required element: topic";
ROS.Warn()(msg);
connection.sendHeaderError(ref msg);
return(false);
}
string name = (string)header.Values["topic"];
string client_callerid = (string)header.Values["callerid"];
Publication pt = TopicManager.Instance.lookupPublication(name);
if (pt == null)
{
string msg = $"[{ThisNode.Name}] received a connection for a nonexistent topic [{name}] from [{connection.transport}] [{client_callerid}]";
ROS.Warn()(msg);
connection.sendHeaderError(ref msg);
return(false);
}
string error_message = "";
if (!pt.validateHeader(header, ref error_message))
{
connection.sendHeaderError(ref error_message);
ROS.Error()($"[{ThisNode.Name}] {error_message}");
return(false);
}
destination_caller_id = client_callerid;
connection_id = ConnectionManager.Instance.GetNewConnectionId();
name = pt.Name;
topic = name;
parent = pt;
lock ( parent )
{
maxQueue = parent.MaxQueue;
}
var m = new Dictionary <string, string>();
m["type"] = pt.DataType;
m["md5sum"] = pt.Md5sum;
m["message_definition"] = pt.MessageDefinition;
m["callerid"] = ThisNode.Name;
m["latching"] = Convert.ToString(pt.Latch);
connection.writeHeader(m, OnHeaderWritten);
pt.addSubscriberLink(this);
ROS.Debug()($"[{ThisNode.Name}] Finalize transport subscriber link for {name}");
return(true);
}
public void addLocalConnection(Publication pub)
{
lock ( publisher_links_mutex )
{
if (_dropped)
{
return;
}
ROS.Info()($"[{ThisNode.Name}] Creating intraprocess link for topic [{name}]");
var pub_link = new LocalPublisherLink(this, XmlRpcManager.Instance.Uri);
var sub_link = new LocalSubscriberLink(pub);
pub_link.setPublisher(sub_link);
sub_link.SetSubscriber(pub_link);
addPublisherLink(pub_link);
pub.addSubscriberLink(sub_link);
}
}